EP3152592A1 - Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif - Google Patents

Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Info

Publication number
EP3152592A1
EP3152592A1 EP15726152.0A EP15726152A EP3152592A1 EP 3152592 A1 EP3152592 A1 EP 3152592A1 EP 15726152 A EP15726152 A EP 15726152A EP 3152592 A1 EP3152592 A1 EP 3152592A1
Authority
EP
European Patent Office
Prior art keywords
virtual plane
obstacle
image
plane
horizontal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15726152.0A
Other languages
German (de)
English (en)
French (fr)
Inventor
Bruno Maisonnier
Jörg Ziegler
Vincent CLERC
Nicolas Garcia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aldebaran SAS
Original Assignee
SoftBank Robotics Europe SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SoftBank Robotics Europe SAS filed Critical SoftBank Robotics Europe SAS
Publication of EP3152592A1 publication Critical patent/EP3152592A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Manipulator (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
EP15726152.0A 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif Withdrawn EP3152592A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1455099A FR3022037B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif
PCT/EP2015/062214 WO2015185532A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Publications (1)

Publication Number Publication Date
EP3152592A1 true EP3152592A1 (fr) 2017-04-12

Family

ID=51485656

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15726152.0A Withdrawn EP3152592A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Country Status (13)

Country Link
US (1) US20170082751A1 (es)
EP (1) EP3152592A1 (es)
JP (1) JP2017518579A (es)
KR (1) KR20170027767A (es)
CN (1) CN106687821A (es)
AU (1) AU2015270607B2 (es)
BR (1) BR112016028247A2 (es)
CA (1) CA2953268A1 (es)
FR (1) FR3022037B1 (es)
MX (1) MX359304B (es)
RU (1) RU2650098C1 (es)
SG (1) SG11201609557VA (es)
WO (1) WO2015185532A1 (es)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4050451B1 (en) 2016-08-26 2024-02-14 Crown Equipment Corporation Materials handling vehicle path validation and dynamic path modification
US10800640B2 (en) 2016-08-26 2020-10-13 Crown Equipment Corporation Multi-field scanning tools in materials handling vehicles
CN115268426A (zh) 2016-08-26 2022-11-01 克朗设备公司 物料搬运车辆障碍物扫描工具
DE102018009684A1 (de) * 2018-01-18 2019-07-18 Sew-Eurodrive Gmbh & Co Kg Mobilteil mit zumindest einem Modul und Verfahren zum Betreiben eines Mobilteils
CN111596651B (zh) * 2019-02-19 2022-08-09 科沃斯机器人股份有限公司 环境区域划分与定点清扫方法、设备及存储介质
CN109991983B (zh) * 2019-04-10 2020-12-01 拉扎斯网络科技（上海）有限公司 机器人导航方法、装置、系统、电子设备及存储介质
CN112198527B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备
CN112198529B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备

Citations (1)

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Publication number Priority date Publication date Assignee Title
JPH05257533A (ja) * 1992-03-12 1993-10-08 Tokimec Inc 移動ロボットの床面掃引方法及び装置

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JPS59135511A (ja) * 1983-01-24 1984-08-03 Komatsu Ltd 光学式障害物検出装置
US4954962A (en) * 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US5040116A (en) * 1988-09-06 1991-08-13 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US7209221B2 (en) * 1994-05-23 2007-04-24 Automotive Technologies International, Inc. Method for obtaining and displaying information about objects in a vehicular blind spot
US6173215B1 (en) * 1997-12-19 2001-01-09 Caterpillar Inc. Method for determining a desired response to detection of an obstacle
RU2143708C1 (ru) * 1998-12-25 1999-12-27 Коночкин Анатолий Иванович Способ формирования радиолокационного изображения объекта и устройство формирования радиолокационного изображения
US6496754B2 (en) * 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
FR2820216B1 (fr) * 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
EP1504276B1 (en) * 2002-05-03 2012-08-08 Donnelly Corporation Object detection system for vehicle
US20040066500A1 (en) * 2002-10-02 2004-04-08 Gokturk Salih Burak Occupancy detection and measurement system and method
JP4995458B2 (ja) * 2005-12-12 2012-08-08 本田技研工業株式会社 脚式移動ロボット
JP2008039745A (ja) * 2006-08-10 2008-02-21 Nissan Motor Co Ltd キャリブレーション方法およびキャリブレーション装置
KR101461185B1 (ko) * 2007-11-09 2014-11-14 삼성전자 주식회사 스트럭쳐드 라이트를 이용한 3차원 맵 생성 장치 및 방법
DE102008014912B4 (de) * 2008-03-19 2023-01-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
JP2010076527A (ja) * 2008-09-25 2010-04-08 Sanyo Electric Co Ltd 操縦支援装置
JP5247494B2 (ja) * 2009-01-22 2013-07-24 パナソニック株式会社 自律移動装置
JP6033222B2 (ja) * 2010-07-22 2016-11-30 レニショウ パブリック リミテッド カンパニーＲｅｎｉｓｈａｗ Ｐｕｂｌｉｃ Ｌｉｍｉｔｅｄ Ｃｏｍｐａｎｙ レーザ走査システムおよび使用方法
JP2012098047A (ja) * 2010-10-29 2012-05-24 Toshiba Transport Eng Inc 車輪形状計測装置、車輪形状計測方法、車輪形状計測プログラム
KR20130090438A (ko) * 2012-02-04 2013-08-14 엘지전자 주식회사 로봇 청소기

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05257533A (ja) * 1992-03-12 1993-10-08 Tokimec Inc 移動ロボットの床面掃引方法及び装置

Also Published As

Publication number Publication date
RU2650098C1 (ru) 2018-04-06
US20170082751A1 (en) 2017-03-23
BR112016028247A2 (pt) 2017-08-22
JP2017518579A (ja) 2017-07-06
FR3022037B1 (fr) 2017-12-01
AU2015270607B2 (en) 2018-01-04
AU2015270607A1 (en) 2016-12-01
WO2015185532A1 (fr) 2015-12-10
MX2016015829A (es) 2017-06-28
FR3022037A1 (fr) 2015-12-11
CN106687821A (zh) 2017-05-17
KR20170027767A (ko) 2017-03-10
SG11201609557VA (en) 2016-12-29
MX359304B (es) 2018-09-24
CA2953268A1 (en) 2015-12-10

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